\documentclass{article}
\usepackage{tikz,geometry}
\pagestyle{empty}
\geometry{paperwidth=8cm,paperheight=6.0cm,left=0pt,right=0pt,top=3pt,bottom=0pt}
\begin{document}
\centering
\begin{tikzpicture}
\fill (2,2) coordinate(r) circle(1pt) node[left] {$r(t)$};
\draw[ultra thin,gray] (r) circle(2cm) circle(2cm and 0.5cm);
\fill (r) ++(30:5cm) coordinate (c) circle(1pt) node[right]{cible};
\draw[-stealth] (r) -- ++(0,-3) node[pos=0.5,right] {$\vec{g}$};
\draw[-stealth] (r) -- ++(30:3cm) node[above,pos=0.8]{$\vec{\mathtt{f}}(t)$};
\draw[dotted,-stealth] (r) -- ++(4,0,3);
\draw[dashed] (r) -- ++(4,0,0);
\draw[dashed] (r) -- ++(0,2,0);
\draw[dashed] (r) -- ++(0,0,4);
\draw (r) ++(0,0.8)  arc(90:30:8mm);
\path (r) ++(60:8mm) node[above right] {$\theta(t)$};
\draw (r) ++(0,0,0.8)  arc(-120:-50:8mm and 4mm);
\path (r) ++(-70:5mm) node[below right] {$\varphi(t)$};
%%
\coordinate (a) at (0,0,0);
\draw[-stealth] (a) -- ++(0,1,0) node[left] {$\vec{z}$};
\draw[-stealth] (a) -- ++(1,0,0) node[right]{$\vec{x}$};
\draw[-stealth] (a) -- ++(0,0,1) node[right]{$\vec{y}$};
\end{tikzpicture}
\end{document}
